Error message “Controller Disconnected” when you play Forza Motorsport 6

You see the following error message when you play Forza Motorsport 6 on your Xbox One console:

Controller Disconnected Please reconnect the controller for player <gamertag>

Typically, this means that the active profile recognised by the Xbox One differs from the profile playing the game. This may occur if players swap controllers, or if one person uses the Xbox One while another person is signed in and active in Forza.